Functions | Variables
evaluate_ate Namespace Reference

Functions

def align (model, data)
 
def plot_traj (ax, stamps, traj, style, color, label)
 

Variables

 action
 
 args = parser.parse_args()
 
 ax = fig.add_subplot(111)
 
 default
 
 dpi
 
 fig = plt.figure()
 
 file = open(args.save_associations,"w")
 
 first_list = associate.read_file_list(args.first_file)
 
 first_stamps = first_list.keys()
 
 first_xyz = numpy.matrix([[float(value) for value in first_list[a][0:3]] for a,b in matches]).transpose()
 
 first_xyz_full = numpy.matrix([[float(value) for value in first_list[b][0:3]] for b in first_stamps]).transpose()
 
 format
 
 help
 
 matches = associate.associate(first_list, second_list,float(args.offset),float(args.max_difference))
 
 parser = argparse.ArgumentParser(description=)
 
 plot
 
 rot
 
 second_list = associate.read_file_list(args.second_file)
 
 second_stamps = second_list.keys()
 
 second_xyz = numpy.matrix([[float(value)*float(args.scale) for value in second_list[b][0:3]] for a,b in matches]).transpose()
 
 second_xyz_aligned = rot*second_xyz+trans
 
 second_xyz_full = numpy.matrix([[float(value)*float(args.scale) for value in second_list[b][0:3]] for b in second_stamps]).transpose()
 
 second_xyz_full_aligned = rot*second_xyz_full+trans
 
 trans
 
 trans_error
 

Function Documentation

def evaluate_ate.align (   model,
  data 
)
Align two trajectories using the method of Horn (closed-form).

Input:
model -- first trajectory (3xn)
data -- second trajectory (3xn)

Output:
rot -- rotation matrix (3x3)
trans -- translation vector (3x1)
trans_error -- translational error per point (1xn)

Definition at line 47 of file evaluate_ate.py.

def evaluate_ate.plot_traj (   ax,
  stamps,
  traj,
  style,
  color,
  label 
)
Plot a trajectory using matplotlib. 

Input:
ax -- the plot
stamps -- time stamps (1xn)
traj -- trajectory (3xn)
style -- line style
color -- line color
label -- plot legend

Definition at line 81 of file evaluate_ate.py.

Variable Documentation

evaluate_ate.action

Definition at line 126 of file evaluate_ate.py.

evaluate_ate.args = parser.parse_args()

Definition at line 127 of file evaluate_ate.py.

evaluate_ate.ax = fig.add_subplot(111)

Definition at line 181 of file evaluate_ate.py.

evaluate_ate.default

Definition at line 120 of file evaluate_ate.py.

evaluate_ate.dpi

Definition at line 194 of file evaluate_ate.py.

evaluate_ate.fig = plt.figure()

Definition at line 180 of file evaluate_ate.py.

evaluate_ate.file = open(args.save_associations,"w")

Definition at line 165 of file evaluate_ate.py.

evaluate_ate.first_list = associate.read_file_list(args.first_file)

Definition at line 129 of file evaluate_ate.py.

evaluate_ate.first_stamps = first_list.keys()

Definition at line 143 of file evaluate_ate.py.

evaluate_ate.first_xyz = numpy.matrix([[float(value) for value in first_list[a][0:3]] for a,b in matches]).transpose()

Definition at line 137 of file evaluate_ate.py.

evaluate_ate.first_xyz_full = numpy.matrix([[float(value) for value in first_list[b][0:3]] for b in first_stamps]).transpose()

Definition at line 145 of file evaluate_ate.py.

evaluate_ate.format

Definition at line 194 of file evaluate_ate.py.

evaluate_ate.help

Definition at line 118 of file evaluate_ate.py.

evaluate_ate.matches = associate.associate(first_list, second_list,float(args.offset),float(args.max_difference))

Definition at line 132 of file evaluate_ate.py.

evaluate_ate.parser = argparse.ArgumentParser(description=)

Definition at line 115 of file evaluate_ate.py.

evaluate_ate.plot

Definition at line 194 of file evaluate_ate.py.

evaluate_ate.rot

Definition at line 139 of file evaluate_ate.py.

evaluate_ate.second_list = associate.read_file_list(args.second_file)

Definition at line 130 of file evaluate_ate.py.

evaluate_ate.second_stamps = second_list.keys()

Definition at line 147 of file evaluate_ate.py.

evaluate_ate.second_xyz = numpy.matrix([[float(value)*float(args.scale) for value in second_list[b][0:3]] for a,b in matches]).transpose()

Definition at line 138 of file evaluate_ate.py.

evaluate_ate.second_xyz_aligned = rot*second_xyz+trans

Definition at line 141 of file evaluate_ate.py.

evaluate_ate.second_xyz_full = numpy.matrix([[float(value)*float(args.scale) for value in second_list[b][0:3]] for b in second_stamps]).transpose()

Definition at line 149 of file evaluate_ate.py.

evaluate_ate.second_xyz_full_aligned = rot*second_xyz_full+trans

Definition at line 150 of file evaluate_ate.py.

evaluate_ate.trans

Definition at line 139 of file evaluate_ate.py.

evaluate_ate.trans_error

Definition at line 139 of file evaluate_ate.py.



rtabmap_ros
Author(s): Mathieu Labbe
autogenerated on Mon Dec 14 2020 03:42:19